Abstract: A new approach is put forward to combine the time-disposal and set-statistic for receiver integrity autonomous monitoring. Mathematic model for fault detect using the innovation of Kalman filter was described in detail. It’s characters are analyzed latter. It is combined with snapshot RAIM method, which we call it TSC-RAIM(Time and Set Combined Receiver Integrity Autonomous Monitoring). Computer simulation is done to verify the validity of TSC-RAIM. The results show that this method increases the performance of fault detection, at the same time it decreases the required number of satellite in view, and compensates the weakness of snapshot RAIM for detecting multi-failure.

Key words: GNSS, RAIM, Kalman filter, fault detect